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论文主要运用机械机构学、机械设计学等,确定了机器人末端执行器的自由度和关节尺寸,从而建立起物理模型,运用D-H方法建立机器人末端执行器的坐标系,利用齐次坐标变换法对其进行静力学分析。
The paper mainly uses mechanical mechanics and mechanical design to determine the degree of freedom and the joint size of the robot end effector so as to establish the physical model, establish the coordinate system of the robot end effector by DH method, and use the homogeneous coordinate transformation method It is statically analyzed.